Modeling of underwater snake robots
Conference object, Journal article, Peer reviewed
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Original versionProceedings / IEEE International Conference on Robotics and Automation 2014:4540-4547 10.1109/ICRA.2014.6907522
Increasing efficiency by improving the locomotion methods is a key issue for underwater robots. Hence, an accurate dynamic model is important for both controller design and efficient locomotion methods. This paper presents a model of the kinematics and dynamics of a planar, underwater snake robot aimed at control design. Fluid contact forces and torques are modeled using analytical fluid dynamics. The model is derived in a closed form and can be utilized in modern model-based control schemes. The proposed model is easily implemented and simulated, regardless of the number of robot links. Simulation results with a ten link robotic system are presented.